#include "rclcpp/rclcpp.hpp"
#include "iolayer.hpp"

class laser_controller
{
	private:
	std::shared_ptr<iolayer::layer_socket> sock;
	uint32_t _send_id;
	uint32_t _recv_id;
	public:
	laser_controller(std::shared_ptr<iolayer::layer_socket> sock, uint32_t send_id, uint32_t recv_id);
	int read_frame(int &status, int &distance);
	int write_frame(bool enable);
};
